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Merge pull request #3648 from shellixyz/fix_emergency_landing_message

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Fix the OSD emergency landing warning message
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Konstantin Sharlaimov 2018-07-25 20:44:35 +02:00 • committed by GitHub
commit 4cfe65e46e
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3 changed files with 16 additions and 6 deletions
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9
src/main/navigation/navigation.c
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@ -704,7 +704,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_START,
.mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_SUCCESS] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
@ -720,7 +720,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
.mapToFlightModes = 0,
.mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
.mwState = MW_NAV_STATE_EMERGENCY_LANDING,
.mwError = MW_NAV_ERROR_LANDING,
.onEvent = {
[NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // re-process the state
@ -3049,6 +3049,11 @@ rthState_e getStateOfForcedRTH(void)
}
}
bool navigationIsExecutingAnEmergencyLanding(void)
{
return navGetCurrentStateFlags() & NAV_CTL_EMERG;
}
bool navigationIsControllingThrottle(void)
{
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();